version: 66.14
glider: 640
mission: 5
dive: 138
start: 12 30 118 1 21 45
data:
$ID,640
$MISSION,5
$DIVE,138
$N_DIVES,300
$STOP_T,1031912
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54260
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,301218,011655,-5946.1694,1.8004,16,0.7,40,-19.7,0.0,237.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.2
$GPS2,301218,012127,-5946.1890,1.8108,9,0.8,14,-19.7,0.5,86.1,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.3,62640,-15.5,-8.333,-18.82,2677
$D_GRID,350
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.64,-146.0,234,2145,1796,1824,0.0,0.0,0,96,0.00,0.00,-84.53,0.000,16386,0.000,0.000,234,2144,3139,3219,3059,0,0,0,0,0,0,14.61,28.83,14.61,6.17,49.92
$GC,98,-0.64,-146.0,234,2145,3221,3061,3.1,-5.0,17,116,5.97,2.55,-6.97,0.000,18692,0.360,2.277,2178,3465,3317,3412,3223,0,0,0,0,0,0,14.21,13.40,14.46,6.28,49.33
$GC,170,-0.64,-146.0,2178,3465,3415,3224,15.4,-17.2,32,176,0.03,2.25,0.00,0.000,3078,0.454,0.041,2186,2136,3318,3413,3224,0,0,0,0,0,0,14.21,14.39,14.35,6.29,48.46
$GC,296,-0.64,-146.0,2186,2136,3414,3225,36.2,-17.2,57,299,0.00,2.50,0.00,0.000,2564,0.000,0.067,2185,696,3318,3413,3224,0,0,0,0,0,0,14.64,14.41,14.64,6.30,48.77
$GC,420,-0.64,-146.0,2186,697,3414,3224,56.9,-15.2,82,424,0.05,2.35,0.00,0.000,3078,0.378,0.055,2192,2052,3319,3413,3225,0,0,0,0,0,0,14.26,14.45,14.42,6.30,48.66
$GC,546,-0.64,-146.0,2192,2053,3415,3225,75.2,-14.9,107,549,0.00,2.58,0.00,0.000,2308,0.000,0.083,2181,3521,3319,3413,3225,0,0,0,0,0,0,14.69,14.45,14.69,6.30,49.25
$GC,585,-0.64,-146.0,2181,3521,3413,3225,81.3,-15.3,115,589,0.00,2.40,0.00,0.000,3078,0.000,0.044,2181,2107,3319,3413,3225,0,0,0,0,0,0,14.52,14.48,14.54,6.30,48.85
$GC,710,-0.64,-146.0,2180,2106,3414,3226,100.1,-15.0,140,712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2106,3318,3413,3224,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.54
$GC,1010,-0.64,-146.0,2181,2106,3414,3226,142.3,-13.3,155,1014,0.00,2.47,0.00,0.000,2564,0.000,0.066,2180,692,3319,3413,3225,0,0,0,0,0,0,14.76,14.51,14.76,6.30,49.56
$GC,1045,-0.64,-146.0,2181,692,3413,3226,145.1,-13.4,156,1049,0.05,2.42,0.00,0.000,3078,0.364,0.057,2187,2099,3319,3414,3225,0,0,0,0,0,0,14.36,14.52,14.50,6.30,49.88
$GC,1350,-0.64,-146.0,2186,2099,3414,3224,187.1,-13.1,172,1354,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3502,3318,3413,3224,0,0,0,0,0,0,14.79,14.52,14.77,6.31,50.74
$GC,1395,-0.64,-146.0,2176,3504,3414,3226,192.4,-13.1,174,1399,0.03,2.38,0.00,0.000,3078,0.453,0.044,2184,2090,3318,3413,3224,0,0,0,0,0,0,14.38,14.57,14.52,6.31,51.37
$GC,1710,-0.64,-146.0,2186,2089,3414,3226,233.4,-12.8,190,1714,0.00,2.42,0.00,0.000,2564,0.000,0.066,2185,697,3318,3413,3224,0,0,0,0,0,0,14.81,14.56,14.82,6.32,50.94
$GC,1785,-0.64,-146.0,2185,698,3414,3224,241.2,-12.9,193,1790,0.05,2.40,0.00,0.000,3078,0.367,0.055,2197,2096,3318,3413,3224,0,0,0,0,0,0,14.40,14.57,14.56,6.32,50.94
$GC,2090,-0.64,-146.0,2192,2097,3414,3224,280.7,-12.4,209,2095,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3503,3318,3413,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.69
$GC,2140,-0.64,-146.0,2180,3505,3413,3226,285.8,-12.6,211,2144,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2101,3314,3405,3224,0,0,0,0,0,0,14.65,14.61,14.66,6.33,51.22
$GC,2450,-0.64,-146.0,2181,2101,3413,3226,326.2,-12.6,227,2454,0.00,2.42,0.00,0.000,2564,0.000,0.065,2180,704,3318,3413,3224,0,0,0,0,0,0,14.84,14.59,14.85,6.33,51.02
$GC,2530,-0.64,-146.0,2180,704,3414,3224,336.2,-12.5,231,2534,0.05,2.40,0.00,0.000,3078,0.359,0.056,2187,2108,3318,3412,3224,0,0,0,0,0,0,14.42,14.59,14.58,6.33,51.22
$STATE,2649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2649,begin apogee
$GC,2652,-0.15,0.0,2188,2154,3413,3225,350.4,-11.9,237,2783,0.45,0.00,127.97,1.607,10246,0.268,0.000,2348,2153,2719,2778,2660,0,0,0,0,0,0,14.47,13.90,13.31,6.33,51.45
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin loiter
$GC,3070,-0.15,0.0,2349,2155,2770,2644,345.6,3.5,258,3071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2154,2707,2771,2643,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.35
$GC,3370,-0.15,0.0,2349,2154,2772,2640,335.4,3.3,273,3371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2705,2770,2640,0,0,0,0,0,0,14.70,14.70,14.70,6.29,50.74
$GC,3670,-0.15,0.0,2349,2154,2771,2639,325.9,3.1,288,3671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2705,2771,2639,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.98
$GC,3970,-0.15,0.0,2349,2154,2772,2638,317.3,2.9,303,3971,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2704,2771,2638,0,0,0,0,0,0,14.84,14.85,14.85,6.28,50.98
$GC,4270,-0.15,0.0,2348,2154,2771,2639,308.7,2.9,318,4271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.57
$GC,4570,-0.15,0.0,2349,2154,2771,2639,299.8,3.0,333,4571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4870,-0.15,0.0,2349,2154,2771,2639,290.7,3.0,348,4871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5170,-0.15,0.0,2349,2154,2771,2638,281.7,2.9,363,5171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.10
$GC,5470,-0.15,0.0,2349,2154,2771,2639,273.1,2.8,378,5471,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.41
$GC,5770,-0.15,0.0,2349,2154,2771,2638,264.8,2.7,393,5771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2152,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.10
$GC,6070,-0.15,0.0,2349,2154,2771,2638,256.7,2.7,408,6071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.06
$STATE,6369,end loiter,LOITER_COMPLETE
$STATE,6369,begin climb
$GC,6370,0.64,146.0,2349,2154,2772,2637,247.7,0.0,423,6507,0.62,2.55,129.88,1.442,10500,0.177,0.082,2600,3550,2120,2146,2095,0,0,0,0,0,0,14.70,13.89,13.43,6.29,51.85
$GC,6606,0.64,146.0,2600,3551,2142,2085,227.7,11.5,434,6611,0.00,2.42,0.00,0.000,5126,0.000,0.043,2610,2151,2113,2141,2086,0,0,0,0,0,0,14.23,14.19,14.25,6.24,49.17
$GC,6926,0.64,146.0,2609,2152,2135,2079,187.9,12.7,450,6930,0.00,2.53,0.00,0.000,4612,0.000,0.072,2621,741,2106,2134,2078,0,0,0,0,0,0,14.61,14.35,14.60,6.24,50.35
$GC,6971,0.64,146.0,2621,742,2132,2079,183.0,12.6,452,6976,0.05,2.42,0.00,0.000,5126,0.313,0.055,2602,2134,2104,2131,2077,0,0,0,0,0,0,14.26,14.39,14.39,6.24,50.59
$GC,7286,0.64,146.0,2603,2134,2132,2076,142.2,12.6,468,7290,0.00,2.55,0.00,0.000,260,0.000,0.086,2602,3558,2103,2131,2076,0,0,0,0,0,0,14.70,14.45,14.71,6.24,50.39
$GC,7381,0.64,146.0,2603,3558,2133,2076,132.4,12.2,472,7385,0.00,2.40,0.00,0.000,5126,0.000,0.047,2611,2149,2103,2131,2076,0,0,0,0,0,0,14.54,14.49,14.56,6.23,50.23
$GC,7686,0.64,146.0,2612,2149,2132,2074,96.1,10.5,491,7691,0.00,2.47,0.00,0.000,4612,0.000,0.073,2622,751,2102,2130,2074,0,0,0,0,0,0,14.76,14.50,14.76,6.23,50.19
$GC,7756,0.64,146.0,2622,752,2129,2075,89.0,9.7,505,7760,0.05,2.40,0.00,0.000,5126,0.310,0.055,2603,2144,2101,2129,2074,0,0,0,0,0,0,14.40,14.52,14.53,6.23,50.43
$GC,7881,0.64,146.0,2604,2145,2129,2075,76.6,10.0,530,7885,0.00,2.53,0.00,0.000,260,0.000,0.085,2603,3558,2101,2128,2074,0,0,0,0,0,0,14.76,14.51,14.77,6.22,49.25
$GC,7941,0.64,146.0,2604,3559,2129,2074,70.6,9.6,542,7945,0.00,2.38,0.00,0.000,5126,0.000,0.046,2612,2155,2101,2128,2074,0,0,0,0,0,0,14.59,14.55,14.62,6.22,49.01
$GC,8066,0.64,146.0,2613,2155,2127,2075,58.5,10.1,567,8071,0.00,2.45,0.00,0.000,4612,0.000,0.073,2624,738,2100,2127,2073,0,0,0,0,0,0,14.77,14.54,14.77,6.21,48.50
$GC,8101,0.64,146.0,2624,739,2128,2073,54.9,9.9,574,8105,0.05,2.42,0.00,0.000,5126,0.311,0.055,2602,2147,2099,2127,2072,0,0,0,0,0,0,14.40,14.54,14.54,6.21,48.85
$GC,8226,0.65,152.8,2605,2148,2128,2072,44.0,8.1,599,8231,0.00,2.50,0.00,0.000,260,0.000,0.084,2604,3559,2100,2127,2073,0,0,0,0,0,0,14.77,14.51,14.78,6.20,48.46
$GC,8266,0.65,152.8,2605,3561,2128,2073,40.4,8.9,607,8271,0.00,2.40,0.00,0.000,5126,0.000,0.047,2613,2139,2097,2127,2067,0,0,0,0,0,0,14.59,14.56,14.62,6.21,48.14
$GC,8391,0.65,152.8,2613,2141,2128,2073,29.5,9.2,632,8394,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2141,2099,2127,2072,0,0,0,0,0,0,14.78,14.78,14.78,6.20,48.50
$GC,8516,0.65,152.8,2613,2141,2128,2072,17.0,10.1,657,8517,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2141,2099,2127,2072,0,0,0,0,0,0,14.78,14.78,14.78,6.20,49.05
$GC,8636,0.65,152.8,2613,2141,2128,2073,4.8,10.5,681,8637,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2141,2099,2127,2072,0,0,0,0,0,0,14.78,14.79,14.79,6.20,49.21
$STATE,8655,end climb,SURFACE_DEPTH_REACHED
$STATE,8655,begin surface coast
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8696,66.25,0.250,0,0,1822,220.03
$SM_GC,1.24,5.47,0.03,66.25,0.060,0.314,0.250,256,2082,1822,-6.50,1.07,220.03,0,0,0,0,0,0,14.65,14.59,14.36
$IRIDIUM_FIX,-5944.88,0.00,291218,224840
$TT8_MAMPS,0.038948,0.320572
$HUMID,48.89
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,8
$SC_FREEKB,3850208
$24V_AH,13.31,31.331
$10V_AH,13.35,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.925,73.425,257.850,66.250,0.000,23.435,40.517,100.019,2.000,0.000,15.161,0.000,6938.069,428.171,1582.423,90.668,0.000,1055.500,0.000,1148.238,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,2276.640,1606.500,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5093.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.660,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17328,691
$CAP_FILE_SIZE,92242,0
$CFSIZE,1023623168,1005912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,117.36,1
$GPS,301218,034851,-5946.745,2.361,39,0.7,41,-19.7,0.7,171.2,11,9.7